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<a href="raytrace__utils_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * raytrace_utils.cc</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Oct 29, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="line__segment_8h.html">collision/line_segment.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="point_8h.html">collision/narrowphase/point.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="application_8h.html">collision/application.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="raytrace__primitive_8h.html">collision/raytrace_primitive.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="raytrace__utils_8h.html">collision/raytrace_utils.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span>raytrace {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structcollision_1_1raytrace_1_1_vector2d_sort___x.html">   20</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcollision_1_1raytrace_1_1_vector2d_sort___x.html">Vector2dSort_X</a> {</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structcollision_1_1raytrace_1_1_vector2d_sort___x.html#a5ce852fd02491529d34da048a0b8ca51">   21</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structcollision_1_1raytrace_1_1_vector2d_sort___x.html#a5ce852fd02491529d34da048a0b8ca51">operator()</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;i, <span class="keyword">const</span> Eigen::Vector2d &amp;j) {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordflow">return</span> (i[0] &lt;= j[0]);</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  }</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;} <a class="code" href="namespacecollision_1_1raytrace.html#a4d373e94f0ca792540629f46a4c4e7d9">vector2dSortX</a>;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structcollision_1_1raytrace_1_1_vector2d_sort___y.html">   26</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcollision_1_1raytrace_1_1_vector2d_sort___y.html">Vector2dSort_Y</a> {</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structcollision_1_1raytrace_1_1_vector2d_sort___y.html#afada347a3c821c46e71a5ec94df2ccc3">   27</a></span>&#160; 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 <span class="keywordtype">bool</span> <a class="code" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x.html#a11e7165edf9359498159ab20f1f03abb">operator()</a>(<a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a> i, <a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a> j) {</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordflow">return</span> (i.<a class="code" href="classcollision_1_1_line_segment.html#a4b87aae8650c9555495a23dd374ac338">point1</a>().<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a> &lt;= j.<a class="code" href="classcollision_1_1_line_segment.html#a4b87aae8650c9555495a23dd374ac338">point1</a>().<a class="code" href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">x</a>);</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  }</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;} <a class="code" href="namespacecollision_1_1raytrace.html#aa19b3e230e27746f18ac737e5ec0f8d6">startsSortX</a>;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x__goe.html">   38</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x__goe.html">StartsLineSegmentSort_X_goe</a> {</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x__goe.html#a500503af1ca36152cf02aeed9cface01">   39</a></span>&#160; 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   std::vector&lt;collision::CollisionObjectConstPtr&gt; collision_objects,</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keyword">const</span> Eigen::Vector2d &amp;point1, <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    std::vector&lt;LineSegment&gt; &amp;intersect, <span class="keywordtype">bool</span> remove_overlaps) {</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordtype">bool</span> res = <span class="keyword">false</span>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  std::vector&lt;LineSegment&gt; res2; <span class="comment">// intersecting segments storage</span></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordtype">int</span> counter = 0;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;obj : collision_objects) {</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    res = obj-&gt;rayTrace(point1, point2, res2) || res;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    counter++;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="preprocessor">#if RAYTRACE_DEBUG</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  std::stringstream out;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  out &lt;&lt; <span class="stringliteral">&quot;[Raytrace] Obstacle CollisionObjects count: &quot;</span> &lt;&lt; counter &lt;&lt; std::endl;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  out &lt;&lt; <span class="stringliteral">&quot;[Raytrace] Returned segments: &quot;</span> &lt;&lt; res2.size() &lt;&lt; std::endl;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="namespacecollision_1_1raytrace.html#aa5d0e3bbe5db32786c5562a886ddba67">raytrace::RaytraceDebugOutput</a>(out.str().c_str());</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">if</span> (remove_overlaps) {</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordtype">int</span> axis =</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; 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std::endl;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <a class="code" href="namespacecollision_1_1raytrace.html#aa5d0e3bbe5db32786c5562a886ddba67">raytrace::RaytraceDebugOutput</a>(out.str().c_str());</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">if</span> (inters1.size() == 2) {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    intersect.push_back(<a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(inters1[0], inters1[1]));</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; 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   <span class="comment">// more than two points returned - must filter duplicates</span></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="comment">// std::vector&lt;Eigen::Vector2d&gt; inters1_copy;</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="comment">// inters1_copy=inters1;</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="comment">// std::sort(inters1_copy.begin(),inters1_copy.end(), vector2dSortX);</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordtype">int</span> numFound = 0;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; 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   <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cc1 = 1;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">for</span> (; cc1 &lt; inters1.size(); cc1++) {</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordflow">if</span> ((pow(inters1[cc1][0] - inters1[0][0], 2) +</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;           pow(inters1[cc1][1] - inters1[0][1], 2)) &gt;= eps) {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordflow">if</span> (numFound &lt; 1) {</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          numFound++;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;          inters2.push_back(inters1[cc1]);</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="preprocessor">#if RAYTRACE_DEBUG</span></div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          debugO &lt;&lt; <span class="stringliteral">&quot;[RayTrace] [Raytrace Point]&quot;</span> &lt;&lt; inters1[cc1][0] &lt;&lt; <span class="stringliteral">&quot; &quot;</span>;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          debugO &lt;&lt; inters1[cc1][1] &lt;&lt; <span class="stringliteral">&quot; ;&quot;</span>;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          <span class="comment">// raytrace::RaiseRaytraceError(&quot;more than two points found after</span></div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;          <span class="comment">// LineSegment intersect postprocessing\n&quot;);</span></div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="comment">// obj-&gt;to_string(debugO);</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          <span class="comment">// debugO &lt;&lt; &quot;[RayTrace] [Raytrace Point]&quot; &lt;&lt;  inters1[cc1][0] &lt;&lt; &quot; &quot;;</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          <span class="comment">// debugO &lt;&lt; inters1[cc1][1] &lt;&lt; &quot; ;&quot;;</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          <span class="keywordflow">break</span>;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        }</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      }</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    }</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="preprocessor">#if RAYTRACE_DEBUG</span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <a class="code" href="namespacecollision_1_1raytrace.html#aa5d0e3bbe5db32786c5562a886ddba67">raytrace::RaytraceDebugOutput</a>(debugO.str().c_str());</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordflow">if</span> (numFound &gt;= 1) {</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      intersect.push_back(<a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a>(inters1[0], inters2[0]));</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      inters2.push_back(inters1[0]); <span class="comment">// only one point in intersection</span></div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="namespacecollision_1_1raytrace.html#ad094906ddcf62d4d1dde8ef64fc5f938">rayTracePostprocess</a>(point1, point2, inters2, intersect, obj);</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  }</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="namespacecollision_1_1raytrace.html#a9a83f74b36376cf77bbea1b02498f459">  204</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1raytrace.html#a9a83f74b36376cf77bbea1b02498f459">rayTraceRemoveOverlaps</a>(std::vector&lt;LineSegment&gt; intersect,</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                           std::vector&lt;LineSegment&gt; &amp;out_vec, <span class="keywordtype">int</span> axis) {</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  std::vector&lt;LineSegment&gt; starts = intersect;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  std::vector&lt;LineSegment&gt; ends = intersect;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  std::vector&lt;bool&gt; remove_its(intersect.size());</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="comment">// todo zeromemory?</span></div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;it : starts) {</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordflow">if</span> (it.point1().getCoord(axis) &gt; it.point2().getCoord(axis)) {</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      it.swap();</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    }</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  }</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordflow">if</span> (!axis) {</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    std::sort(starts.begin(), starts.end(), <a class="code" href="namespacecollision_1_1raytrace.html#aa19b3e230e27746f18ac737e5ec0f8d6">startsSortX</a>);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    std::sort(starts.begin(), starts.end(), <a class="code" href="namespacecollision_1_1raytrace.html#a51a140b6527f5ac4629ef7a40dc1c344">startsSortY</a>);</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  }</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="comment">// std::sort(ends.begin(), ends.end(), endsSortX);</span></div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  std::vector&lt;LineSegment&gt;::iterator starts_it = starts.begin();</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="keywordflow">while</span> (starts_it &lt; starts.end()) {</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordtype">bool</span> repeat = 1;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">auto</span> starts_it2 = starts_it + 1;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordflow">while</span> (repeat) {</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      std::vector&lt;LineSegment&gt;::iterator maxend = starts_it;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keywordflow">while</span> ((starts_it2 &lt; starts.end()) &amp;&amp;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;             (starts_it2)-&gt;point1().getCoord(axis) &lt;=</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                 (starts_it)-&gt;point2().getCoord(axis)) {</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        remove_its[starts_it2 - starts.begin()] = <span class="keyword">true</span>;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="keywordflow">if</span> ((starts_it2)-&gt;point2().getCoord(axis) &gt;=</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            maxend-&gt;point2().getCoord(axis)) {</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;          maxend = starts_it2;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        }</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        starts_it2++;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      }</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keywordflow">if</span> (maxend != starts_it) {</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        starts_it-&gt;set_point_2(maxend-&gt;point2());</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        starts_it = starts_it2;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        repeat = 0;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      }</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    }</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  }</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cc1 = 0; cc1 &lt; starts.size(); cc1++) {</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keywordflow">if</span> (!remove_its[cc1]) {</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      out_vec.push_back(starts[cc1]);</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    }</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  }</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;}</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;} <span class="comment">// namespace raytrace</span></div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x_html"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x.html">collision::raytrace::StartsLineSegmentSort_X</a></div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00032">raytrace_utils.cc:32</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a2c09ac0434b5fa95c1119dcbbd9e7934"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a2c09ac0434b5fa95c1119dcbbd9e7934">collision::raytrace::endsSortX</a></div><div class="ttdeci">struct collision::raytrace::EndsLineSegmentSort_X endsSortX</div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x__goe_html"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x__goe.html">collision::raytrace::EndsLineSegmentSort_X_goe</a></div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00062">raytrace_utils.cc:62</a></div></div>
<div class="ttc" id="raytrace__primitive_8h_html"><div class="ttname"><a href="raytrace__primitive_8h.html">raytrace_primitive.h</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x__goe_html_a65cd36368475235a03bdaefba6512d86"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x__goe.html#a65cd36368475235a03bdaefba6512d86">collision::raytrace::EndsLineSegmentSort_X_goe::operator()</a></div><div class="ttdeci">bool operator()(LineSegment i, LineSegment j)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00063">raytrace_utils.cc:63</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y_html_ae7cdcd4350bc8f3f70afadaa0a2826ff"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y.html#ae7cdcd4350bc8f3f70afadaa0a2826ff">collision::raytrace::EndsLineSegmentSort_Y::operator()</a></div><div class="ttdeci">bool operator()(LineSegment i, LineSegment j)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00069">raytrace_utils.cc:69</a></div></div>
<div class="ttc" id="application_8h_html"><div class="ttname"><a href="application_8h.html">application.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_aa19b3e230e27746f18ac737e5ec0f8d6"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#aa19b3e230e27746f18ac737e5ec0f8d6">collision::raytrace::startsSortX</a></div><div class="ttdeci">struct collision::raytrace::StartsLineSegmentSort_X startsSortX</div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y__goe_html_a62af73a491ea289351457a7925ae24c4"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y__goe.html#a62af73a491ea289351457a7925ae24c4">collision::raytrace::EndsLineSegmentSort_Y_goe::operator()</a></div><div class="ttdeci">bool operator()(LineSegment i, LineSegment j)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00075">raytrace_utils.cc:75</a></div></div>
<div class="ttc" id="point_8h_html"><div class="ttname"><a href="point_8h.html">point.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a00992ab548b8c1e73cf3fa16ac7fa019"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a00992ab548b8c1e73cf3fa16ac7fa019">collision::raytrace::endsSortY_goe</a></div><div class="ttdeci">struct collision::raytrace::EndsLineSegmentSort_Y_goe endsSortY_goe</div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y__goe_html"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y__goe.html">collision::raytrace::StartsLineSegmentSort_Y_goe</a></div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00050">raytrace_utils.cc:50</a></div></div>
<div class="ttc" id="namespacecollision_html_a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b"><div class="ttname"><a href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b">collision::COL_DEFAULT</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00006">collision_requests.h:6</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_vector2d_sort___y_html"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_vector2d_sort___y.html">collision::raytrace::Vector2dSort_Y</a></div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00026">raytrace_utils.cc:26</a></div></div>
<div class="ttc" id="line__segment_8h_html"><div class="ttname"><a href="line__segment_8h.html">line_segment.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a4d373e94f0ca792540629f46a4c4e7d9"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a4d373e94f0ca792540629f46a4c4e7d9">collision::raytrace::vector2dSortX</a></div><div class="ttdeci">struct collision::raytrace::Vector2dSort_X vector2dSortX</div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_ad094906ddcf62d4d1dde8ef64fc5f938"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#ad094906ddcf62d4d1dde8ef64fc5f938">collision::raytrace::rayTracePostprocess</a></div><div class="ttdeci">bool rayTracePostprocess(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; Eigen::Vector2d &gt; inters1, std::vector&lt; LineSegment &gt; &amp;intersect, const collision::CollisionObject *obj)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00112">raytrace_utils.cc:112</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y_html_a9cb5334c4c1447ff82eb36bb3c9c4450"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y.html#a9cb5334c4c1447ff82eb36bb3c9c4450">collision::raytrace::StartsLineSegmentSort_Y::operator()</a></div><div class="ttdeci">bool operator()(LineSegment i, LineSegment j)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00045">raytrace_utils.cc:45</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_aa5d0e3bbe5db32786c5562a886ddba67"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#aa5d0e3bbe5db32786c5562a886ddba67">collision::raytrace::RaytraceDebugOutput</a></div><div class="ttdeci">void RaytraceDebugOutput(const char *)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__primitive_8cc_source.html#l00059">raytrace_primitive.cc:59</a></div></div>
<div class="ttc" id="classcollision_1_1_line_segment_html_a6e28d7aab313a21ad8d88896c2089f14"><div class="ttname"><a href="classcollision_1_1_line_segment.html#a6e28d7aab313a21ad8d88896c2089f14">collision::LineSegment::point2</a></div><div class="ttdeci">raytrace::Point point2() const</div><div class="ttdef"><b>Definition:</b> <a href="line__segment_8h_source.html#l00037">line_segment.h:37</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_vector2d_sort___x_html_a5ce852fd02491529d34da048a0b8ca51"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_vector2d_sort___x.html#a5ce852fd02491529d34da048a0b8ca51">collision::raytrace::Vector2dSort_X::operator()</a></div><div class="ttdeci">bool operator()(const Eigen::Vector2d &amp;i, const Eigen::Vector2d &amp;j)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00021">raytrace_utils.cc:21</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a51a140b6527f5ac4629ef7a40dc1c344"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a51a140b6527f5ac4629ef7a40dc1c344">collision::raytrace::startsSortY</a></div><div class="ttdeci">struct collision::raytrace::StartsLineSegmentSort_Y startsSortY</div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y__goe_html_a9c9def9840aa79f918ac558f584fba2e"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y__goe.html#a9c9def9840aa79f918ac558f584fba2e">collision::raytrace::StartsLineSegmentSort_Y_goe::operator()</a></div><div class="ttdeci">bool operator()(LineSegment i, LineSegment j)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00051">raytrace_utils.cc:51</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html_a98bb20ca531cf5018fff83603e93b597"><div class="ttname"><a href="classcollision_1_1_collision_object.html#a98bb20ca531cf5018fff83603e93b597">collision::CollisionObject::collide</a></div><div class="ttdeci">virtual bool collide(const CollisionObject &amp;c, const collision::CollisionRequest &amp;req=CollisionRequest()) const =0</div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a9a83f74b36376cf77bbea1b02498f459"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a9a83f74b36376cf77bbea1b02498f459">collision::raytrace::rayTraceRemoveOverlaps</a></div><div class="ttdeci">int rayTraceRemoveOverlaps(std::vector&lt; LineSegment &gt; intersect, std::vector&lt; LineSegment &gt; &amp;out_vec, int axis=0)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00204">raytrace_utils.cc:204</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_point_html_a569322759d29989a357eafd9f376304d"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_point.html#a569322759d29989a357eafd9f376304d">collision::raytrace::Point::x</a></div><div class="ttdeci">double x</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__primitive_8h_source.html#l00025">raytrace_primitive.h:25</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a7cb335e7c302c0f66577263e9cfa9d93"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a7cb335e7c302c0f66577263e9cfa9d93">collision::raytrace::rayTracePrimitive</a></div><div class="ttdeci">bool rayTracePrimitive(std::vector&lt; collision::CollisionObjectConstPtr &gt; collision_objects, const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; LineSegment &gt; &amp;intersect, bool remove_overlaps)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00080">raytrace_utils.cc:80</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y__goe_html"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y__goe.html">collision::raytrace::EndsLineSegmentSort_Y_goe</a></div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00074">raytrace_utils.cc:74</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a34036aa060cabf54bffae81c59f00f8d"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a34036aa060cabf54bffae81c59f00f8d">collision::raytrace::endsSortY</a></div><div class="ttdeci">struct collision::raytrace::EndsLineSegmentSort_Y endsSortY</div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_vector2d_sort___x_html"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_vector2d_sort___x.html">collision::raytrace::Vector2dSort_X</a></div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00020">raytrace_utils.cc:20</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_request_html"><div class="ttname"><a href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a></div><div class="ttdoc">Universal structure specifying collision request properties.</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00026">collision_requests.h:26</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_acf7e015d81b76df799d5973163832ff8"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#acf7e015d81b76df799d5973163832ff8">collision::raytrace::startsSortY_goe</a></div><div class="ttdeci">struct collision::raytrace::StartsLineSegmentSort_Y_goe startsSortY_goe</div></div>
<div class="ttc" id="raytrace__utils_8h_html"><div class="ttname"><a href="raytrace__utils_8h.html">raytrace_utils.h</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x_html_a2ec549c43514390d9b73b8321422d187"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x.html#a2ec549c43514390d9b73b8321422d187">collision::raytrace::EndsLineSegmentSort_X::operator()</a></div><div class="ttdeci">bool operator()(LineSegment i, LineSegment j)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00057">raytrace_utils.cc:57</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_point_html_a75ada217adbe221af6bdb23a173c7d64"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_point.html#a75ada217adbe221af6bdb23a173c7d64">collision::raytrace::Point::y</a></div><div class="ttdeci">double y</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__primitive_8h_source.html#l00026">raytrace_primitive.h:26</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x_html"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___x.html">collision::raytrace::EndsLineSegmentSort_X</a></div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00056">raytrace_utils.cc:56</a></div></div>
<div class="ttc" id="classcollision_1_1_line_segment_html_a4b87aae8650c9555495a23dd374ac338"><div class="ttname"><a href="classcollision_1_1_line_segment.html#a4b87aae8650c9555495a23dd374ac338">collision::LineSegment::point1</a></div><div class="ttdeci">raytrace::Point point1() const</div><div class="ttdef"><b>Definition:</b> <a href="line__segment_8h_source.html#l00035">line_segment.h:35</a></div></div>
<div class="ttc" id="classcollision_1_1_line_segment_html"><div class="ttname"><a href="classcollision_1_1_line_segment.html">collision::LineSegment</a></div><div class="ttdef"><b>Definition:</b> <a href="line__segment_8h_source.html#l00019">line_segment.h:19</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x__goe_html"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x__goe.html">collision::raytrace::StartsLineSegmentSort_X_goe</a></div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00038">raytrace_utils.cc:38</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y_html"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___y.html">collision::raytrace::StartsLineSegmentSort_Y</a></div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00044">raytrace_utils.cc:44</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a50df7247e3726f657a5e92481e00b5dd"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a50df7247e3726f657a5e92481e00b5dd">collision::raytrace::endsSortX_goe</a></div><div class="ttdeci">struct collision::raytrace::EndsLineSegmentSort_X_goe endsSortX_goe</div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a34b1c38a7506b51df9c61ceb7c5cf80e"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a34b1c38a7506b51df9c61ceb7c5cf80e">collision::raytrace::startsSortXgoe</a></div><div class="ttdeci">struct collision::raytrace::StartsLineSegmentSort_X_goe startsSortXgoe</div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a0c33a8b26d2ee2cbaeda82482c4e247a"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a0c33a8b26d2ee2cbaeda82482c4e247a">collision::raytrace::vector2dSortY</a></div><div class="ttdeci">struct collision::raytrace::Vector2dSort_Y vector2dSortY</div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x_html_a11e7165edf9359498159ab20f1f03abb"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x.html#a11e7165edf9359498159ab20f1f03abb">collision::raytrace::StartsLineSegmentSort_X::operator()</a></div><div class="ttdeci">bool operator()(LineSegment i, LineSegment j)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00033">raytrace_utils.cc:33</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y_html"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_ends_line_segment_sort___y.html">collision::raytrace::EndsLineSegmentSort_Y</a></div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00068">raytrace_utils.cc:68</a></div></div>
<div class="ttc" id="classcollision_1_1_point_html"><div class="ttname"><a href="classcollision_1_1_point.html">collision::Point</a></div><div class="ttdoc">A point in space.</div><div class="ttdef"><b>Definition:</b> <a href="point_8h_source.html#l00018">point.h:18</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_vector2d_sort___y_html_afada347a3c821c46e71a5ec94df2ccc3"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_vector2d_sort___y.html#afada347a3c821c46e71a5ec94df2ccc3">collision::raytrace::Vector2dSort_Y::operator()</a></div><div class="ttdeci">bool operator()(const Eigen::Vector2d &amp;i, const Eigen::Vector2d &amp;j)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00027">raytrace_utils.cc:27</a></div></div>
<div class="ttc" id="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x__goe_html_a500503af1ca36152cf02aeed9cface01"><div class="ttname"><a href="structcollision_1_1raytrace_1_1_starts_line_segment_sort___x__goe.html#a500503af1ca36152cf02aeed9cface01">collision::raytrace::StartsLineSegmentSort_X_goe::operator()</a></div><div class="ttdeci">bool operator()(LineSegment i, LineSegment j)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00039">raytrace_utils.cc:39</a></div></div>
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